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Dpto de Informática y Automática, UNED, C/. Juan del Rosal 16, 28040 Madrid,
Spain. Phone:34-91-3987156. E-mails: fmorilla@dia.uned.es, roberto@dia.uned.es
* Dept. de Informática y Análisis Numérico, Universidad de Córdoba, Campus de
Rabanales, 14071 Córdoba, Spain. Phone: 34-957-218729. E-mail: fvazquez@uco.es
Abstract: This paper presents a Matlab GUI to design PID controllers with guaranteed
stability. The GUI shows the stability region in the respective parameter plane KP-KI or
KP-KD and the boundary curves for frequency response requirements (phase margin,
gain margin, maximum sensitivity and maximum complementary sensitivity).
Combining several requirements the tool splits the stability region into zones and the
user can explore them in order to tune the controller satisfying those requirements. The
GUI can be also used in lectures about stability, robust PID control, PID design in the
frequency domain, PID Loop Shaping, and it can be very useful for students to get
insight into tuning PID controllers. Copyright © 2006 IFAC.
1. INTRODUCTION
Imag
In the last years some special design methods for PID Mt circle
controllers based on loop shaping have been
proposed. They can be used for any arbitrary order Unit circle
irrational or non-minimun phase transfer functions
with dead-time (Åström and Hägglund, 2005; Čech Ms circle 1
and Schlegel, 2005; Dormido and Morilla, 2004; M2 Am
- 2t
Morilla and Dormido, 2000). These methods use Mt -1
-1
robustness conditions, expressed in terms of ωcg
θ 1 Real
maximum sensitivity Ms and maximum Ms ωs
complementary sensitivity Mt, or stability margins Mt
expressed in terms of phase margin φm and gain ωt
M 2t - 1 φm
margin Am. These requirements involve that the ωcp
Nyquist curve of the loop transfer function should
avoid the respective Ms or Mt circle, it should
intersect the third or fourth quadrant of the unit circle
or it should intersect the negative real axis far away L(jω)
from the critical point -1, as Figure 1 shows.
Fig. 1. Example of Nyquist plot of the loop transfer
function L(s) and its features.
These requirements give a set of admissible values of The stability region of this family is a subset of R3
the controller parameters, describing the boundaries because there are three parameters. When A(s) and
of robustness region in the parameter plane KP-KI or B(s) are polynomials the characteristic equation (3) is
KP-KD of the PID controller (Shafiei and Shenton, a family of polynomials called polytope of
1997; Schlegel and Mertl, 2004). Most of these polynomials (Barmish, 1988) and, as it is well
methods consider only positive control gains and known, it can be formed by several disjoint sets.
cannot guarantee the stability of the closed loop
In order to obtain stability regions for polytopes
system. Neither they cannot assure that the frequency
some results can be found. The most relevant and
response have the requirements specified.
useful was shown by Ackermann (Ackermann,
The main aim of this paper is to show how the PID 1980). This result allows obtain the stability region in
controller can be designed based on frequency terms of the parametric space, so that necessary and
response requirements assuring stability of the closed sufficient conditions can be established and the
loop system. In Section 2, the stability regions for stability region can be calculated in the plane with a
five types of PID controllers are presented. The low computational cost. With three parameters, a
boundary curves for frequency response requirements sweeping along one of them is necessary, growing
are given in Section 3. The PID graphic user the computational cost.
interface that put in practice these methodologies is
However, there are many other applications. So, it
described in Section 4. Conclusions are presented in
can be used to calculate the maximum stability box
Section 5.
or the stability region for predictive controllers with
two parameters (Mañoso, 1996).
2. STABILITY REGIONS In order to design PID controllers with guaranteed
stability this paper considers the five R2 (plane)
As it is well known, stability is a primary
particular cases, shown in Table 1 joint with their
requirement on a feedback system. Therefore,
characteristic equation:
dealing with PID control it is important to know the
set of controller parameters (it will be called the PI, when KD = 0.
stability region) so that given a point of this region
PD, when KI = 0.
the closed loop system is stable. Moreover, it turns
out that much insight into PID control can be PIDα, when the ratio between the derivative and
obtained by analyzing the stability regions (Åström integral time constants α=TD/ TI is fixed, Note
and Hägglund, 2000). K 2P
that this is equivalent to fix K D = α
Consider the feedback control system shown in KI
Figure 2, in which the process to be controlled is
described by the transfer function PIDKD, when KD is fixed.
B(s) PIDKI, when KI is fixed.
P(s) = (1)
A(s)
Table 1: Stability regions on the parameter plane
Let the controller C(s) of the PID type:
KI Control Plane Characteristic equation
C(s) = K P + + KD s (2) PI KP-KI fPI(s; KP, KI) = s A(s) + s KP B(s)
s + KI B(s) = 0
where KP, KI, KD, are the proportional, integral and PD KP-KD fPD(s; KP, KD) = A(s) + s KD B(s)
derivative gains of the controller, respectively. The + KP B(s) = 0
characteristic equation of the closed-loop system is PIDα KP-KI fα(s; KP, KI) = s KI A(s) + s2 KP2
given by α B(s) + s KP KI B(s) + KI2 B(s)
=0
f(s; KP, KI, KD) = s A(s) + s2 KD B(s) + PIDKD KP-KI fKD(s; KP, KI) = s AD(s) + s KP
+ s KP B(s) + KI B(s) = 0 (3) BD(s) + KI BD(s) = 0
PIDKI KP-KD fKI(s; KP, KD) = AI(s) + s KD BI(s)
D(s) + KP BI(s) = 0
+
where:
R(s) E(s) U(s) Y(s) AD(s) = A(s) + s KD B(s) and BD(s) = B(s)
C(s) P(s) AI(s) = s A(s) + KI B(s) and BI(s) = s B(s)
+ +
-
The notation used in Table 1 allows that the PIDKD
control includes the PI control as a particular case
Fig. 2. Feedback control system. when KD=0, and the PIDKI control includes the PD
control as a particular case when KI=0. In order to do
this, it must be noted that the contribution of the
control parameters, KD and KI respectively, are These requirements give a subset of R3, all possible
involved into the process transfer function. trios of gains (KP, KI, KD) verifying the expressions
9 where r(ω) and φ(ω) are the magnitude and the phase
8
of P(jω) with respect to the origin and to the negative
real axis. Thus, one point A (r(ωd),φ(ωd)) of the
7
process Nyquist plot
6
KI
5 P( jω) = r (ω) e j (φ (ω )-180) (7)
4
3. BOUNDARY CURVES Mt
R=
In this paper, the four requirements depicted in M 2t - 1
Figure 1 are considered. As it is well known, these
performances could be reached by loop shaping,
doing that the target point B lies on the Nyquist plot The expressions (5) and (6) have been particularized
L(jω)=C(jω)P(jω) (Åström and Hägglund, 2005; in Table 3 when additional conditions, mentioned in
Dormido and Morilla, 2004). Table 2 gives the target section 2 are imposed to the controller gains. In this
points B corresponding to the four requirements, way a subset of admissible values of the controller
where rB and φB are the magnitude and the phase of parameters can be shown as a boundary curve, in the
point B with respect to the origin and to the negative respective parameter plane KP-KI or KP-KD,. The
real axis. R and c are the centre and the radius of the second row of Table 2 includes the PI control as
respective circle. θ is the angle where the Nyquist particular case when KD=0, and the third row
plot contacts the respective circle. includes the PD control as particular case when KI=0.
Even using a reduced range of frequencies, it is usual
7
that only a bit of the boundary curve lies inside the
corresponding stability region. Only this bit of the 6
boundary curve is interesting for find the control
parameters. The Figure 4 shows an example of 5
boundary curve obtained for the phase margin Valid
φm=60º. This curve splits the stability region into two 4
solutions
KI
zones: I (φm > 60º) and II (φm < 60º).
3
Invalid II
With these information is easy to tune the controller. solutions
2
A point of the boundary curve could be select to get Am=4
5
a - φm = 60º Am = 4
b - φm = 60º Am = 4
4 c - φm = 60º Am = 2
KI II
d - φm = 40º Am = 2
3
e - φm = 40º Am = 2
φm=60º 7
2
6
1
I
5 e
0 X
-3 -2 -1 0 1 2 3 4 5 6 7
KP 4
KI VII Am=2
Fig. 4. Stability region and boundary curve for PIDα 3
d b
φm=40º
it also show some of the general benefits of using a Dormido, S. and F. Morilla (2004). Tuning of PID
tool like this to understand concepts about stability, Controllers Based on Sensitivity Margin
robustness and stability margins in PID control loop. Specification. 5th Asian Control Conference,
A non minimum phase process has been used in the Melbourne.
examples but the GUI has been tested with a great Mañoso, C., R. Hernández, A.P. de Madrid and S.
number of transfer functions. Dormido (1996). Robust stability analysis of
predictive controllers using extreme point results.
CESA'96 IMACS Multiconference, Lille-France,
ACKNOWLEDGEMENTS
pp 483-488.
This work has been supported by the Spanish CICYT Morilla, F. and S. Dormido (2000). Methodologies
under grant DPI 2004-05903. This support is very for the tuning of PID controllers in the frequency
gratefully acknowledged. domain. PID’00 IFAC Workshop on Digital
Control: Past, present and future of PID Control,
155-160, Terrassa.
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